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<div class="title">nrf51/Board/nrf6310/simple_pwm_motor_control_example/main.c</div>  </div>
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<a href="nrf6310_2simple__pwm__motor__control__example_2main_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* Copyright (c) 2009 Nordic Semiconductor. All Rights Reserved.</span>
<a name="l00002"></a>00002 <span class="comment"> *</span>
<a name="l00003"></a>00003 <span class="comment"> * The information contained herein is confidential property of Nordic</span>
<a name="l00004"></a>00004 <span class="comment"> * Semiconductor ASA.Terms and conditions of usage are described in detail</span>
<a name="l00005"></a>00005 <span class="comment"> * in NORDIC SEMICONDUCTOR STANDARD SOFTWARE LICENSE AGREEMENT.</span>
<a name="l00006"></a>00006 <span class="comment"> *</span>
<a name="l00007"></a>00007 <span class="comment"> * Licensees are granted free, non-transferable use of the information. NO</span>
<a name="l00008"></a>00008 <span class="comment"> * WARRANTY of ANY KIND is provided. This heading must NOT be removed from</span>
<a name="l00009"></a>00009 <span class="comment"> * the file.</span>
<a name="l00010"></a>00010 <span class="comment"> *</span>
<a name="l00011"></a>00011 <span class="comment"> */</span>
<a name="l00012"></a>00012 
<a name="l00033"></a>00033 <span class="preprocessor">#include &lt;stdbool.h&gt;</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include &lt;stdint.h&gt;</span>
<a name="l00035"></a>00035 <span class="preprocessor">#include &quot;nrf_delay.h&quot;</span>
<a name="l00036"></a>00036 <span class="preprocessor">#include &quot;nrf_gpio.h&quot;</span>
<a name="l00037"></a>00037 <span class="preprocessor">#include &quot;nrf_gpiote.h&quot;</span>
<a name="l00038"></a>00038 
<a name="l00039"></a><a class="code" href="group__simple__motor__control.html#gaf1aeb7e936e859c23ed991a5710cb38f">00039</a> <span class="preprocessor">#define PWM_OUTPUT_PIN_NUMBER (18UL) </span>
<a name="l00040"></a><a class="code" href="group__simple__motor__control.html#gaa7914b8d7fd0bae056b85acb5062676b">00040</a> <span class="preprocessor">#define TIMER_PRESCALER       (4) </span>
<a name="l00041"></a><a class="code" href="group__simple__motor__control.html#ga871ccc78714a478abd2a8e11340693f3">00041</a> <span class="preprocessor">#define LED_INTENSITY_HIGH    (224U) </span>
<a name="l00042"></a><a class="code" href="group__simple__motor__control.html#ga8d90fa917b5e41534c88aa23d7e92ab7">00042</a> <span class="preprocessor">#define LED_INTENSITY_LOW     (32U) </span>
<a name="l00043"></a><a class="code" href="group__simple__motor__control.html#ga80700bb63bd56ebabbb4728aa433fd29">00043</a> <span class="preprocessor">#define LED_OFF               (1U) </span>
<a name="l00044"></a><a class="code" href="group__simple__motor__control.html#gaa98bd74144aab58a816ab925243bb926">00044</a> <span class="preprocessor">#define LED_INTENSITY_HALF    (128U) </span>
<a name="l00049"></a><a class="code" href="group__simple__motor__control.html#gaace1ec7562b6ea02c189b5dea139de82">00049</a> <span class="preprocessor">static void pwm_set(uint8_t new_setting)</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span>{
<a name="l00051"></a>00051   NRF_TIMER2-&gt;CC[0] = new_setting;
<a name="l00052"></a>00052 }
<a name="l00053"></a>00053 
<a name="l00056"></a><a class="code" href="group__simple__motor__control.html#ga9459bbd9d6c1f423f968799c09f96434">00056</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="group__simple__motor__control.html#ga9459bbd9d6c1f423f968799c09f96434">timer2_init</a>(<span class="keywordtype">void</span>)
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058   <span class="comment">/* Start to power up TIMER2 peripheral */</span>
<a name="l00059"></a>00059   NRF_POWER-&gt;PERPOWER |= (1UL &lt;&lt; POWER_PERPOWER_TIMER2_Pos);
<a name="l00060"></a>00060 
<a name="l00061"></a>00061   <span class="comment">/* Wait for TIMER2 to power up */</span>
<a name="l00062"></a>00062   <span class="keywordflow">while</span> ((NRF_POWER-&gt;PERRDY &amp; (1UL &lt;&lt; POWER_PERPOWER_TIMER2_Pos)) == 0)
<a name="l00063"></a>00063   {
<a name="l00064"></a>00064   }
<a name="l00065"></a>00065 
<a name="l00066"></a>00066   NRF_TIMER2-&gt;MODE = TIMER_MODE_MODE_Timer;
<a name="l00067"></a>00067   NRF_TIMER2-&gt;PRESCALER = 4;
<a name="l00068"></a>00068 
<a name="l00069"></a>00069   <span class="comment">/* Load initial values to TIMER2 CC registers */</span>
<a name="l00070"></a>00070   <span class="comment">/* Set initial  CC0 value to anything &gt;1 */</span>
<a name="l00071"></a>00071   NRF_TIMER2-&gt;CC[0] = <a class="code" href="group__simple__motor__control.html#ga8d90fa917b5e41534c88aa23d7e92ab7">LED_INTENSITY_LOW</a>;
<a name="l00072"></a>00072   NRF_TIMER2-&gt;CC[1] = (<a class="code" href="group__simple__motor__control.html#gaa98bd74144aab58a816ab925243bb926">LED_INTENSITY_HALF</a>*2);
<a name="l00073"></a>00073 
<a name="l00074"></a>00074   <span class="comment">/* Set up interrupt for CC2 */</span>
<a name="l00075"></a>00075   <span class="comment">/* This interrupt is to force the change of CC0 to happen when it is safe */</span>
<a name="l00076"></a>00076   <span class="comment">/* A safe time is after the highest possible CC0 value, but before the lowest one */</span>
<a name="l00077"></a>00077   NRF_TIMER2-&gt;CC[2] = <a class="code" href="group__simple__motor__control.html#ga871ccc78714a478abd2a8e11340693f3">LED_INTENSITY_HIGH</a>;
<a name="l00078"></a>00078 
<a name="l00079"></a>00079   NRF_TIMER2-&gt;INTENSET = TIMER_INTENSET_COMPARE2_Enabled &lt;&lt; TIMER_INTENSET_COMPARE2_Pos;
<a name="l00080"></a>00080 
<a name="l00081"></a>00081   <span class="comment">/* Create an Event-Task shortcut to clear TIMER2 on COMPARE[1] event. */</span>
<a name="l00082"></a>00082   NRF_TIMER2-&gt;SHORTS = (TIMER_SHORTS_COMPARE1_CLEAR_Enabled &lt;&lt; TIMER_SHORTS_COMPARE1_CLEAR_Pos);
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084 
<a name="l00087"></a><a class="code" href="group__simple__motor__control.html#gad22626704ea5d45f863163500e355cc3">00087</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="group__simple__motor__control.html#gad22626704ea5d45f863163500e355cc3">gpiote_init</a>(<span class="keywordtype">void</span>)
<a name="l00088"></a>00088 {
<a name="l00089"></a>00089   <span class="comment">/* Power on the GPIOTE peripheral */</span>
<a name="l00090"></a>00090   NRF_POWER-&gt;PERPOWER |= (POWER_PERPOWER_GPIOTE_Power &lt;&lt; POWER_PERPOWER_GPIOTE_Pos);
<a name="l00091"></a>00091 
<a name="l00092"></a>00092   <span class="comment">/* Wait for the power up */</span>
<a name="l00093"></a>00093   <span class="keywordflow">while</span> ((NRF_POWER-&gt;PERRDY &amp; POWER_PERRDY_GPIOTE_Msk) != (POWER_PERRDY_GPIOTE_Ready &lt;&lt; POWER_PERRDY_GPIOTE_Pos))
<a name="l00094"></a>00094   {
<a name="l00095"></a>00095   }
<a name="l00096"></a>00096 
<a name="l00097"></a>00097   NRF_GPIO-&gt;OUT = 0x00000000UL;
<a name="l00098"></a>00098   NRF_GPIO-&gt;DIRSET = 0x0000FF00UL;
<a name="l00099"></a>00099   NRF_GPIO-&gt;DIRCLR = 0x000000FFUL;
<a name="l00100"></a>00100 
<a name="l00101"></a>00101   <span class="comment">/* Configuring Button 0 as input */</span>
<a name="l00102"></a>00102   <a class="code" href="group__nrf__gpio.html#ga4e63d442ebd572126be3e030b3df4dc6" title="Configure given GPIO pin number as input with given initial value set, hiding inner details...">nrf_gpio_cfg_input</a>(0, <a class="code" href="group__nrf__gpio.html#gga07e0c8c0b30499cf0a7b79dbe62d3fcca13ffcb94eb78be866c66b5f5b516af65" title="Pin pullup resistor disabled.">NRF_GPIO_PIN_NOPULL</a>);
<a name="l00103"></a>00103 
<a name="l00104"></a>00104   <span class="comment">/* Configuring Button 1 as input */</span>
<a name="l00105"></a>00105   <span class="comment">/*lint -e{845} // A zero has been given as right argument to operator &#39;|&#39;&quot; */</span>
<a name="l00106"></a>00106   <a class="code" href="group__nrf__gpio.html#ga4e63d442ebd572126be3e030b3df4dc6" title="Configure given GPIO pin number as input with given initial value set, hiding inner details...">nrf_gpio_cfg_input</a>(1, <a class="code" href="group__nrf__gpio.html#gga07e0c8c0b30499cf0a7b79dbe62d3fcca13ffcb94eb78be866c66b5f5b516af65" title="Pin pullup resistor disabled.">NRF_GPIO_PIN_NOPULL</a>);
<a name="l00107"></a>00107 
<a name="l00108"></a>00108   <span class="comment">/* Configuring Pin PWM_OUTPUT_PIN_NUMBER as output to be used for the PWM waveform */</span>
<a name="l00109"></a>00109   <a class="code" href="group__nrf__gpio.html#ga0271806dc37bffea02d199474d526a35" title="Configure given GPIO pin number as output with given initial value set, hiding inner details...">nrf_gpio_cfg_output</a>(<a class="code" href="group__simple__motor__control.html#gaf1aeb7e936e859c23ed991a5710cb38f">PWM_OUTPUT_PIN_NUMBER</a>);
<a name="l00110"></a>00110 
<a name="l00111"></a>00111   <span class="comment">/* Configure GPIOTE channel 0 to toggle the PWM pin state */</span>
<a name="l00112"></a>00112   <span class="comment">/* Note that we can only connect one GPIOTE task to an output pin */</span>
<a name="l00113"></a>00113   <a class="code" href="group__nrf__gpiote.html#gab8667667ddf3bdca874df3add96fb622" title="Config GPIOTE channel as output, setting the properly desired output level.">nrf_gpiote_task_config</a>(0, <a class="code" href="group__simple__motor__control.html#gaf1aeb7e936e859c23ed991a5710cb38f">PWM_OUTPUT_PIN_NUMBER</a>, <a class="code" href="group__nrf__gpiote.html#gga9a424db0997c11092f8f69d52155dd9da00487cd8286ff071ca751cd4a00295d5" title="Toggle.">NRF_GPIOTE_POLARITY_TOGGLE</a>, <a class="code" href="group__nrf__gpiote.html#ggab280bbb7269ab98a97e7b47d906ef9aaa1fc9af8ce3fcd7165b3c090b564e9aa4" title="High to low.">NRF_GPIOTE_INITIAL_VALUE_HIGH</a>);
<a name="l00114"></a>00114 }
<a name="l00115"></a>00115 
<a name="l00118"></a><a class="code" href="group__simple__motor__control.html#gaad16890c50156256e260b5205571ddc4">00118</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="group__simple__motor__control.html#gaad16890c50156256e260b5205571ddc4">ppi_init</a>(<span class="keywordtype">void</span>)
<a name="l00119"></a>00119 {
<a name="l00120"></a>00120   <span class="comment">/* Power ON the PPI peripheral */</span>
<a name="l00121"></a>00121   NRF_POWER-&gt;PERPOWER |= (POWER_PERPOWER_PPI_Power &lt;&lt; POWER_PERPOWER_PPI_Pos);
<a name="l00122"></a>00122 
<a name="l00123"></a>00123   <span class="comment">/* Wait for the power up */</span>
<a name="l00124"></a>00124   <span class="keywordflow">while</span> ((NRF_POWER-&gt;PERRDY &amp; POWER_PERRDY_PPI_Msk) != (POWER_PERRDY_PPI_Ready &lt;&lt; POWER_PERRDY_PPI_Pos))
<a name="l00125"></a>00125   {
<a name="l00126"></a>00126   }
<a name="l00127"></a>00127 
<a name="l00128"></a>00128   <span class="comment">/* Configure PPI channel 0 to toggle PWM_OUTPUT_PIN on every TIMER2 COMPARE[0] match */</span>
<a name="l00129"></a>00129   NRF_PPI-&gt;CH0_EEP = (uint32_t)&amp;NRF_TIMER2-&gt;EVENTS_COMPARE[0];
<a name="l00130"></a>00130   NRF_PPI-&gt;CH0_TEP = (uint32_t)&amp;NRF_GPIOTE-&gt;TASKS_OUT[0];
<a name="l00131"></a>00131 
<a name="l00132"></a>00132   <span class="comment">/* Configure PPI channel 1 to toggle PWM_OUTPUT_PIN on every TIMER2 COMPARE[1] match */</span>
<a name="l00133"></a>00133   NRF_PPI-&gt;CH1_EEP = (uint32_t)&amp;NRF_TIMER2-&gt;EVENTS_COMPARE[1];
<a name="l00134"></a>00134   NRF_PPI-&gt;CH1_TEP = (uint32_t)&amp;NRF_GPIOTE-&gt;TASKS_OUT[0];
<a name="l00135"></a>00135 
<a name="l00136"></a>00136   <span class="comment">/* Enable only PPI channels 0 and 1 */</span>
<a name="l00137"></a>00137   NRF_PPI-&gt;CHEN =
<a name="l00138"></a>00138     (PPI_CHEN_CH0_Enabled &lt;&lt; PPI_CHEN_CH0_Pos) |
<a name="l00139"></a>00139     (PPI_CHEN_CH1_Enabled &lt;&lt; PPI_CHEN_CH1_Pos);
<a name="l00140"></a>00140 }
<a name="l00141"></a>00141 
<a name="l00147"></a><a class="code" href="group__simple__motor__control.html#ga12c8b827e5eab9d3f93d56f858e735a3">00147</a> <span class="keywordtype">void</span> <a class="code" href="group__pwm__example.html#ga12c8b827e5eab9d3f93d56f858e735a3">TIMER2_IRQHandler</a>(<span class="keywordtype">void</span>)
<a name="l00148"></a>00148 {
<a name="l00149"></a>00149   <span class="comment">// Clear interrupt</span>
<a name="l00150"></a>00150   <span class="keywordflow">if</span> ((NRF_TIMER2-&gt;EVENTS_COMPARE[2] == 1) &amp;&amp; (NRF_TIMER2-&gt;INTENSET &amp; TIMER_INTENSET_COMPARE2_Msk))
<a name="l00151"></a>00151   {
<a name="l00152"></a>00152     NRF_TIMER2-&gt;EVENTS_COMPARE[2] = 0;
<a name="l00153"></a>00153   }
<a name="l00154"></a>00154   <span class="comment">// Process buttons</span>
<a name="l00155"></a>00155   <span class="keywordflow">if</span> (<a class="code" href="group__nrf__gpio.html#ga0983906029818d8aa199b71b578d1c12" title="Read the input level of a GPIO pin.">nrf_gpio_pin_read</a>(1) == 0)
<a name="l00156"></a>00156   {
<a name="l00157"></a>00157     <a class="code" href="group__simple__motor__control.html#gaace1ec7562b6ea02c189b5dea139de82">pwm_set</a>(<a class="code" href="group__simple__motor__control.html#ga871ccc78714a478abd2a8e11340693f3">LED_INTENSITY_HIGH</a>);
<a name="l00158"></a>00158   }
<a name="l00159"></a>00159   <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="group__nrf__gpio.html#ga0983906029818d8aa199b71b578d1c12" title="Read the input level of a GPIO pin.">nrf_gpio_pin_read</a>(0) == 0)
<a name="l00160"></a>00160   {
<a name="l00161"></a>00161     <a class="code" href="group__simple__motor__control.html#gaace1ec7562b6ea02c189b5dea139de82">pwm_set</a>(<a class="code" href="group__simple__motor__control.html#ga8d90fa917b5e41534c88aa23d7e92ab7">LED_INTENSITY_LOW</a>);
<a name="l00162"></a>00162   }
<a name="l00163"></a>00163   <span class="keywordflow">else</span>
<a name="l00164"></a>00164   {
<a name="l00165"></a>00165     <a class="code" href="group__simple__motor__control.html#gaace1ec7562b6ea02c189b5dea139de82">pwm_set</a>(<a class="code" href="group__simple__motor__control.html#ga80700bb63bd56ebabbb4728aa433fd29">LED_OFF</a>);
<a name="l00166"></a>00166   }
<a name="l00167"></a>00167 }
<a name="l00168"></a>00168 
<a name="l00169"></a>00169 <span class="keywordtype">int</span> <a class="code" href="group__gpio__example.html#ga840291bc02cba5474a4cb46a9b9566fe">main</a>(<span class="keywordtype">void</span>)
<a name="l00170"></a>00170 {
<a name="l00171"></a>00171   <span class="comment">/* Intitialization */</span>
<a name="l00172"></a>00172   <a class="code" href="group__simple__motor__control.html#gad22626704ea5d45f863163500e355cc3">gpiote_init</a>();
<a name="l00173"></a>00173   <a class="code" href="group__simple__motor__control.html#gaad16890c50156256e260b5205571ddc4">ppi_init</a>();
<a name="l00174"></a>00174   <a class="code" href="group__simple__motor__control.html#ga9459bbd9d6c1f423f968799c09f96434">timer2_init</a>();
<a name="l00175"></a>00175 
<a name="l00176"></a>00176   <span class="comment">/* Enable interrupt on Timer 2*/</span>
<a name="l00177"></a>00177   NVIC_EnableIRQ(TIMER2_IRQn);
<a name="l00178"></a>00178   __enable_irq();
<a name="l00179"></a>00179 
<a name="l00180"></a>00180   <span class="comment">/* Start clock */</span>
<a name="l00181"></a>00181   NRF_TIMER2-&gt;TASKS_START = 1;
<a name="l00182"></a>00182   <span class="keywordflow">while</span> (<span class="keyword">true</span>)
<a name="l00183"></a>00183   {
<a name="l00184"></a>00184   }
<a name="l00185"></a>00185 }
<a name="l00186"></a>00186 
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